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Author and Title
Venable, K.B., and N. Yorke-Smith. Disjunctive Temporal Planning with Uncertainty. Proceedings of IJCAI'05, Edinburgh, UK (August 2005).

Abstract
Driven by planning problems with both disjunctive constraints and contingency, we define the Disjunctive Temporal Problem with Uncertainty (DTPU), an extension of the DTP that includes contingent events. Generalizing existing work on Simple Temporal Problems with Uncertainty, we divide the time-points into controllable and uncontrollable classes, and propose varying notions of controllability to replace the notion of consistency.

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